beremiz: comparison etherlab/EthercatCIA402Slave.py

equal deleted inserted replaced

-:e0f16317668e
+:15f18dc8b56a
 #                          RTES Lab : CRKim, JBLee, youcu
 #                          Higen Motor : Donggu Kang
 #
 # See COPYING file for copyrights details.
+from __future__ import absolute_import
 import os
 import wx
-from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT
-from MotionLibrary import Headers, AxisXSD
+from MotionLibrary import AxisXSD
-from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
+from etherlab.EthercatSlave import _EthercatSlaveCTN, _CommonSlave
-from ConfigEditor import CIA402NodeEditor
+from etherlab.ConfigEditor import CIA402NodeEditor
 # Definition of node variables that have to be mapped in PDO
 # [(name, index, subindex, type,
 #   direction for master ('I': input, 'Q': output)),...]
 NODE_VARIABLES = [
 ("ControlWord",             0x6040, 0x00, "UINT", "Q"),
 ("TargetPosition",          0x607a, 0x00, "DINT", "Q"),
 ("TargetVelocity",          0x60ff, 0x00, "DINT", "Q"),
 ]
 # Definition of optional node variables that can be added to PDO mapping.
 # A checkbox will be displayed for each section in node configuration panel to
 # enable them
 # [(section_name,
 #   [{'description', (name, index, subindex, type,
 #                     direction for master ('I': input, 'Q': output)),
 #     'retrieve', string_template_for_retrieve_variable (None: not retrieved,
 #                                 default string template if not defined),
 #     'publish', string_template_for_publish_variable (None: not published,
 #                                 default string template if not defined),
 #    },...]
 EXTRA_NODE_VARIABLES = [
 ("ErrorCode", [
 {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
 ]
 # List of parameters name in no configuration panel for optional variable
 # sections
 EXTRA_NODE_VARIABLES_DICT = {
 "Enable" + name: params
 for name, params in EXTRA_NODE_VARIABLES}
 # List of block to define to interface MCL to fieldbus for specific functions
 FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
 {"blocktype": "GetTorqueLimit",
 "inputs": [],
 "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
 {"name": "TorqueLimitNeg", "type": "UINT"}]},
 {"blocktype": "SetTorqueLimit",
 "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
 {"name": "TorqueLimitNeg", "type": "UINT"}],
 "outputs": []},
 ]
-#--------------------------------------------------
+# --------------------------------------------------
 #                 Ethercat CIA402 Node
-#--------------------------------------------------
+# --------------------------------------------------
 class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
 XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
 <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
 <xsd:element name="CIA402SlaveParams">
 </xsd:complexType>
 </xsd:element>
 </xsd:schema>
 """ % ("\n".join(["""\
 <xsd:attribute name="Enable%s" type="xsd:boolean"
 use="optional" default="false"/>""" % category
 for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
 NODE_PROFILE = 402
 EditorType = CIA402NodeEditor
 ConfNodeMethods = [
-{"bitmap" : "CIA402AxisRef",
+{
-"name" : _("Axis Ref"),
+"bitmap": "CIA402AxisRef",
-"tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
+"name": _("Axis Ref"),
-"method" : "_getCIA402AxisRef",
+"tooltip": _("Initiate Drag'n drop of Axis ref located variable"),
-"push": True},
+"method": "_getCIA402AxisRef",
-{"bitmap" : "CIA402NetPos",
+"push": True,
-"name" : _("Axis Pos"),
+},
-"tooltip" : _("Initiate Drag'n drop of Network position located variable"),
+{
-"method" : "_getCIA402NetworkPosition",
+"bitmap": "CIA402NetPos",
-"push": True},
+"name": _("Axis Pos"),
+"tooltip": _("Initiate Drag'n drop of Network position located variable"),
+"method": "_getCIA402NetworkPosition",
+"push": True,
+},
 ]
-#--------------------------------------------------
+# --------------------------------------------------
 #    class code
-#--------------------------------------------------
+# --------------------------------------------------
 def __init__(self):
+_EthercatSlaveCTN.__init__(self)
 # ----------- call ethercat mng. function --------------
 self.CommonMethod = _CommonSlave(self)
 def GetIconName(self):
 return "CIA402Slave"
 def SetParamsAttribute(self, path, value):
 if path == "CIA402SlaveParams.Type":
 path = "SlaveParams.Type"
 elif path == "CIA402SlaveParams.Alias":
 path = "SlaveParams.Alias"
 return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
 def GetVariableLocationTree(self):
 axis_name = self.CTNName()
 current_location = self.GetCurrentLocation()
-children = [{"name": name_frmt % (axis_name),
+children = [
-"type": LOCATION_VAR_INPUT,
+{
-"size": "W",
+"name": name_frmt % (axis_name),
-"IEC_type": iec_type,
+"type": LOCATION_VAR_INPUT,
-"var_name": var_name_frmt % axis_name,
+"size": "W",
-"location": location_frmt % (
+"IEC_type": iec_type,
-".".join(map(str, current_location))),
+"var_name": var_name_frmt % axis_name,
-"description": "",
+"location": location_frmt % (".".join(map(str, current_location))),
-"children": []}
+"description": "",
-for name_frmt, iec_type, var_name_frmt, location_frmt in
+"children": []
-[("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
+}
-("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")]]
+for name_frmt, iec_type, var_name_frmt, location_frmt in [
-children.extend(self.CTNParent.GetDeviceLocationTree(
+("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
-self.GetSlavePos(), current_location, axis_name))
+("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")
-return  {"name": axis_name,
+]
-"type": LOCATION_CONFNODE,
+]
-"location": self.GetFullIEC_Channel(),
+children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(),
-"children": children,
+current_location,
+axis_name))
+return {
+"name": axis_name,
+"type": LOCATION_CONFNODE,
+"location": self.GetFullIEC_Channel(),
+"children": children,
 }
 def CTNGlobalInstances(self):
 current_location = self.GetCurrentLocation()
 return [("%s_%s" % (block_infos["blocktype"],
 "_".join(map(str, current_location))),
 "EtherLab%s" % block_infos["blocktype"], "")
 for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
 def StartDragNDrop(self, data):
 data_obj = wx.TextDataObject(str(data))
 dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
 dragSource.SetData(data_obj)
 dragSource.DoDragDrop()
 def _getCIA402NetworkPosition(self):
 self.StartDragNDrop(
 ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())),
 "location", "UINT", self.CTNName() + "_Pos", ""))
 def _getCIA402AxisRef(self):
 self.StartDragNDrop(
 ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
 "location", "AXIS_REF", self.CTNName(), ""))
 def CTNGenerate_C(self, buildpath, locations):
 current_location = self.GetCurrentLocation()
-location_str = "_".join(map(lambda x:str(x), current_location))
+location_str = "_".join(map(str, current_location))
 slave_pos = self.GetSlavePos()
-MCL_headers = Headers
+# Open CIA402 node code template file
-# Open CIA402 node code template file
+plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
-plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
 "plc_cia402node.c")
 plc_cia402node_file = open(plc_cia402node_filepath, 'r')
 plc_cia402node_code = plc_cia402node_file.read()
 plc_cia402node_file.close()
 # Init list of generated strings for each code template file section
 fieldbus_interface_declaration = []
 fieldbus_interface_definition = []
 init_axis_params = []
 extra_variables_retrieve = []
 extra_variables_publish = []
 extern_located_variables_declaration = []
 entry_variables = []
 init_entry_variables = []
 # Fieldbus interface code sections
 for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
 blocktype = blocktype_infos["blocktype"]
 ucase_blocktype = blocktype.upper()
 blockname = "_".join([ucase_blocktype, location_str])
-extract_inputs = "\n".join(["""\
+extract_inputs = "\n".join([
-__SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
+"""\
-for (input_name, input_value) in [
+__SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
-("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
+for (input_name, input_value) in
-(input["name"].upper(),
+[("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
+(input["name"].upper(),
 "__GET_VAR(data__->%s)" % input["name"].upper())
-for input in blocktype_infos["inputs"]]
+for input in blocktype_infos["inputs"]
-])
+]])
+return_outputs = "\n".join([
-return_outputs = "\n".join(["""\
+"""\
 __SET_VAR(data__->,%(output_name)s,,
-__GET_VAR(%(blockname)s->%(output_name)s));""" % locals()
+__GET_VAR(%(blockname)s->%(output_name)s));""" % {
-for output_name in ["DONE", "BUSY", "ERROR"] + [
+"output_name": output_name,
-output["name"].upper()
+"blockname": blockname
-for output in blocktype_infos["outputs"]]
+}
-])
+for output_name in ["DONE", "BUSY", "ERROR"] + [
+output["name"].upper()
+for output in blocktype_infos["outputs"]]
+])
+loc_dict = {
+"ucase_blocktype": ucase_blocktype,
+"blocktype": blocktype,
+"blockname": blockname,
+"location_str": location_str,
+"extract_inputs": extract_inputs,
+"return_outputs": return_outputs,
+}
 fieldbus_interface_declaration.append("""
 extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
 void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
 __DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
 ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
 __SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition);
 %(extract_inputs)s
 ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
 %(return_outputs)s
-}""" % locals())
+}""" % loc_dict)
 fieldbus_interface_definition.append("""\
 AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
-""" % locals())
+""" % loc_dict)
 # Get a copy list of default variables to map
 variables = NODE_VARIABLES[:]
 # Set AxisRef public struct members value
 node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
 for param in node_params["children"]:
 param_name = param["name"]
 # Param is optional variables section enable flag
 extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
 if extra_node_variable_infos is not None:
 param_name = param_name.replace("Enable", "") + "Enabled"
 if not param["value"]:
 continue
 # Optional variables section is enabled
 for variable_infos in extra_node_variable_infos:
 var_name = variable_infos["description"][0]
 # Add each variables defined in section description to the
 # list of variables to map
 variables.append(variable_infos["description"])
 # Add code to publish or retrive variable
-for var_exchange_dir, str_list, default_template in [
+coded = [
-("retrieve", extra_variables_retrieve,
+("retrieve",
-"    AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
+extra_variables_retrieve,
-("publish", extra_variables_publish,
+"    AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
-"    *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]:
+("publish",
+extra_variables_publish,
-template = variable_infos.get(var_exchange_dir,
+"    *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")
-default_template)
+]
+for var_exchange_dir, _str_list, default_template in coded:
+template = variable_infos.get(var_exchange_dir, default_template)
 if template is not None:
 extra_variables_publish.append(template % locals())
 # Set AxisRef public struct member value if defined
 if param["value"] is not None:
 param_value = ({True: "1", False: "0"}[param["value"]]
 if param["type"] == "boolean"
 else str(param["value"]))
 init_axis_params.append("""\
-AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals())
+AxsPub.axis->%(param_name)s = %(param_value)s;""" % {
+"param_value": param_value,
+"param_name": param_name,
+})
 # Add each variable in list of variables to map to master list of
 # variables to add to network configuration
 for name, index, subindex, var_type, dir in variables:
 var_size = self.GetSizeOfType(var_type)
+loc_dict = {
+"var_size": var_size,
+"var_type": var_type,
+"name:": name,
+"location_str": location_str,
+"index": index,
+"subindex": subindex,
+}
 var_name = """\
-__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals()
+__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % loc_dict
+loc_dict["var_name"] = var_name
 extern_located_variables_declaration.append(
-"IEC_%(var_type)s *%(var_name)s;" % locals())
+"IEC_%(var_type)s *%(var_name)s;" % loc_dict)
 entry_variables.append(
-"    IEC_%(var_type)s *%(name)s;" % locals())
+"    IEC_%(var_type)s *%(name)s;" % loc_dict)
 init_entry_variables.append(
-"    AxsPub.%(name)s = %(var_name)s;" % locals())
+"    AxsPub.%(name)s = %(var_name)s;" % loc_dict)
 self.CTNParent.FileGenerator.DeclareVariable(
 slave_pos, index, subindex, var_type, dir, var_name)
 # Add newline between string in list of generated strings for sections
 [fieldbus_interface_declaration, fieldbus_interface_definition,
 init_axis_params, extra_variables_retrieve, extra_variables_publish,
 extern_located_variables_declaration, entry_variables,
-init_entry_variables] = map(lambda l: "\n".join(l), [
+init_entry_variables] = map("\n".join, [
 fieldbus_interface_declaration, fieldbus_interface_definition,
 init_axis_params, extra_variables_retrieve, extra_variables_publish,
 extern_located_variables_declaration, entry_variables,
 init_entry_variables])
 # Write generated content to CIA402 node file
 Gen_CIA402Nodefile_path = os.path.join(buildpath,
-"cia402node_%s.c"%location_str)
+"cia402node_%s.c" % location_str)
 cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
 cia402nodefile.write(plc_cia402node_code % locals())
 cia402nodefile.close()
-return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
+return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True

changeset 2429	15f18dc8b56a
parent 2413	803daf19a1b5
child 2643	b98d9e08231f